Marking local functions:


Marking externally visible functions: RWS_Angle_Speed Angle_Speed


Marking externally visible variables: RWS_Angle_Speed_limit Angle_Speed_Gain RWA_Angle_Speed_limit


Reclaiming functions:
Reclaiming variables:
Clearing address taken flags:
Symbol table:

GV_RWS2_040_RackAngleCmd/14 (GV_RWS2_040_RackAngleCmd) @06aeb990
  Type: variable
  Body removed by symtab_remove_unreachable_nodes
  Visibility: external public
  References: 
  Referring: RWS_Angle_Speed/4 (write)RWS_Angle_Speed/4 (write)RWS_Angle_Speed/4 (write)RWS_Angle_Speed/4 (write)
  Availability: not_available
  Varpool flags:
GV_RWS1_040_RackAngleCmd/13 (GV_RWS1_040_RackAngleCmd) @06aeb948
  Type: variable
  Body removed by symtab_remove_unreachable_nodes
  Visibility: external public
  References: 
  Referring: RWS_Angle_Speed/4 (write)RWS_Angle_Speed/4 (write)RWS_Angle_Speed/4 (write)RWS_Angle_Speed/4 (write)
  Availability: not_available
  Varpool flags:
Cur_RWS_RACK_ANGLE/12 (Cur_RWS_RACK_ANGLE) @06aeb900
  Type: variable
  Body removed by symtab_remove_unreachable_nodes
  Visibility: external public
  References: 
  Referring: RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (write)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (write)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (write)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (write)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)
  Availability: not_available
  Varpool flags:
GV_MASTER_RWS_RackAngleCommand/11 (GV_MASTER_RWS_RackAngleCommand) @06aeb8b8
  Type: variable
  Body removed by symtab_remove_unreachable_nodes
  Visibility: external public
  References: 
  Referring: RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)
  Availability: not_available
  Varpool flags:
GV_RWA2_040_RackAngleCmd/10 (GV_RWA2_040_RackAngleCmd) @06ae8c60
  Type: variable
  Body removed by symtab_remove_unreachable_nodes
  Visibility: external public
  References: 
  Referring: Angle_Speed/3 (write)Angle_Speed/3 (write)Angle_Speed/3 (write)Angle_Speed/3 (write)Angle_Speed/3 (write)
  Availability: not_available
  Varpool flags:
GV_RWA_040_RackAngleCmd/9 (GV_RWA_040_RackAngleCmd) @06ae8c18
  Type: variable
  Body removed by symtab_remove_unreachable_nodes
  Visibility: external public
  References: 
  Referring: Angle_Speed/3 (write)Angle_Speed/3 (write)Angle_Speed/3 (write)Angle_Speed/3 (write)Angle_Speed/3 (write)
  Availability: not_available
  Varpool flags:
GV_VCU_Vx_Fbk/8 (GV_VCU_Vx_Fbk) @06ae8bd0
  Type: variable
  Body removed by symtab_remove_unreachable_nodes
  Visibility: external public
  References: 
  Referring: Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)
  Availability: not_available
  Varpool flags:
Cur_RWA_RACK_ANGLE/7 (Cur_RWA_RACK_ANGLE) @06ae8b88
  Type: variable
  Body removed by symtab_remove_unreachable_nodes
  Visibility: external public
  References: 
  Referring: Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (write)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (write)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (write)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (write)Angle_Speed/3 (read)Angle_Speed/3 (read)
  Availability: not_available
  Varpool flags:
GV_MASTER_RWA_RackAngleCommand/6 (GV_MASTER_RWA_RackAngleCommand) @06ae8b40
  Type: variable
  Body removed by symtab_remove_unreachable_nodes
  Visibility: external public
  References: 
  Referring: Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)
  Availability: not_available
  Varpool flags:
GV_VCU_Drive_Mode/5 (GV_VCU_Drive_Mode) @06ae8af8
  Type: variable
  Body removed by symtab_remove_unreachable_nodes
  Visibility: external public
  References: 
  Referring: Angle_Speed/3 (read)
  Availability: not_available
  Varpool flags:
RWS_Angle_Speed/4 (RWS_Angle_Speed) @06adfa80
  Type: function definition analyzed
  Visibility: externally_visible public
  References: GV_MASTER_RWS_RackAngleCommand/11 (read)Cur_RWS_RACK_ANGLE/12 (read)GV_MASTER_RWS_RackAngleCommand/11 (read)Cur_RWS_RACK_ANGLE/12 (read)GV_MASTER_RWS_RackAngleCommand/11 (read)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)Cur_RWS_RACK_ANGLE/12 (read)GV_RWS1_040_RackAngleCmd/13 (write)Cur_RWS_RACK_ANGLE/12 (read)GV_RWS2_040_RackAngleCmd/14 (write)Cur_RWS_RACK_ANGLE/12 (read)GV_MASTER_RWS_RackAngleCommand/11 (read)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)Cur_RWS_RACK_ANGLE/12 (read)GV_RWS1_040_RackAngleCmd/13 (write)Cur_RWS_RACK_ANGLE/12 (read)GV_RWS2_040_RackAngleCmd/14 (write)GV_MASTER_RWS_RackAngleCommand/11 (read)Cur_RWS_RACK_ANGLE/12 (read)GV_MASTER_RWS_RackAngleCommand/11 (read)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)Cur_RWS_RACK_ANGLE/12 (read)GV_RWS1_040_RackAngleCmd/13 (write)Cur_RWS_RACK_ANGLE/12 (read)GV_RWS2_040_RackAngleCmd/14 (write)Cur_RWS_RACK_ANGLE/12 (read)GV_MASTER_RWS_RackAngleCommand/11 (read)Cur_RWS_RACK_ANGLE/12 (read)RWS_Angle_Speed_limit/2 (read)Cur_RWS_RACK_ANGLE/12 (write)Cur_RWS_RACK_ANGLE/12 (read)GV_RWS1_040_RackAngleCmd/13 (write)Cur_RWS_RACK_ANGLE/12 (read)GV_RWS2_040_RackAngleCmd/14 (write)
  Referring: 
  Availability: available
  Function flags: body optimize_size
  Called by: 
  Calls: 
Angle_Speed/3 (Angle_Speed) @06adf7e0
  Type: function definition analyzed
  Visibility: externally_visible public
  References: GV_VCU_Drive_Mode/5 (read)GV_MASTER_RWA_RackAngleCommand/6 (read)Cur_RWA_RACK_ANGLE/7 (read)GV_MASTER_RWA_RackAngleCommand/6 (read)Cur_RWA_RACK_ANGLE/7 (read)GV_MASTER_RWA_RackAngleCommand/6 (read)RWA_Angle_Speed_limit/0 (read)Angle_Speed_Gain/1 (read)GV_VCU_Vx_Fbk/8 (read)Cur_RWA_RACK_ANGLE/7 (read)Cur_RWA_RACK_ANGLE/7 (write)Cur_RWA_RACK_ANGLE/7 (read)GV_RWA_040_RackAngleCmd/9 (write)Cur_RWA_RACK_ANGLE/7 (read)GV_RWA2_040_RackAngleCmd/10 (write)Cur_RWA_RACK_ANGLE/7 (read)GV_MASTER_RWA_RackAngleCommand/6 (read)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Angle_Speed_Gain/1 (read)GV_VCU_Vx_Fbk/8 (read)Cur_RWA_RACK_ANGLE/7 (write)Cur_RWA_RACK_ANGLE/7 (read)GV_RWA_040_RackAngleCmd/9 (write)Cur_RWA_RACK_ANGLE/7 (read)GV_RWA2_040_RackAngleCmd/10 (write)GV_MASTER_RWA_RackAngleCommand/6 (read)Cur_RWA_RACK_ANGLE/7 (read)GV_MASTER_RWA_RackAngleCommand/6 (read)Cur_RWA_RACK_ANGLE/7 (read)RWA_Angle_Speed_limit/0 (read)Angle_Speed_Gain/1 (read)GV_VCU_Vx_Fbk/8 (read)Cur_RWA_RACK_ANGLE/7 (write)Cur_RWA_RACK_ANGLE/7 (read)GV_RWA_040_RackAngleCmd/9 (write)Cur_RWA_RACK_ANGLE/7 (read)GV_RWA2_040_RackAngleCmd/10 (write)Cur_RWA_RACK_ANGLE/7 (read)GV_MASTER_RWA_RackAngleCommand/6 (read)RWA_Angle_Speed_limit/0 (read)Angle_Speed_Gain/1 (read)GV_VCU_Vx_Fbk/8 (read)Cur_RWA_RACK_ANGLE/7 (read)Cur_RWA_RACK_ANGLE/7 (write)Cur_RWA_RACK_ANGLE/7 (read)GV_RWA_040_RackAngleCmd/9 (write)Cur_RWA_RACK_ANGLE/7 (read)GV_RWA2_040_RackAngleCmd/10 (write)GV_MASTER_RWA_RackAngleCommand/6 (read)GV_RWA_040_RackAngleCmd/9 (write)GV_MASTER_RWA_RackAngleCommand/6 (read)GV_RWA2_040_RackAngleCmd/10 (write)
  Referring: 
  Availability: available
  Function flags: body optimize_size
  Called by: 
  Calls: 
RWS_Angle_Speed_limit/2 (RWS_Angle_Speed_limit) @06adc828
  Type: variable definition analyzed
  Visibility: externally_visible public
  References: 
  Referring: RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)RWS_Angle_Speed/4 (read)
  Availability: available
  Varpool flags: initialized
Angle_Speed_Gain/1 (Angle_Speed_Gain) @06adc798
  Type: variable definition analyzed
  Visibility: externally_visible public
  References: 
  Referring: Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)
  Availability: available
  Varpool flags: initialized
RWA_Angle_Speed_limit/0 (RWA_Angle_Speed_limit) @06adc708
  Type: variable definition analyzed
  Visibility: externally_visible public
  References: 
  Referring: Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)Angle_Speed/3 (read)
  Availability: available
  Varpool flags: initialized
RWS_Angle_Speed ()
{
  <bb 2> :
  # DEBUG BEGIN_STMT
  GV_MASTER_RWS_RackAngleCommand.39_1 = GV_MASTER_RWS_RackAngleCommand;
  Cur_RWS_RACK_ANGLE.40_2 = Cur_RWS_RACK_ANGLE;
  if (GV_MASTER_RWS_RackAngleCommand.39_1 != Cur_RWS_RACK_ANGLE.40_2)
    goto <bb 3>; [INV]
  else
    goto <bb 13>; [INV]

  <bb 3> :
  # DEBUG BEGIN_STMT
  GV_MASTER_RWS_RackAngleCommand.41_3 = GV_MASTER_RWS_RackAngleCommand;
  if (GV_MASTER_RWS_RackAngleCommand.41_3 < 0.0)
    goto <bb 4>; [INV]
  else
    goto <bb 8>; [INV]

  <bb 4> :
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.42_4 = Cur_RWS_RACK_ANGLE;
  GV_MASTER_RWS_RackAngleCommand.43_5 = GV_MASTER_RWS_RackAngleCommand;
  if (Cur_RWS_RACK_ANGLE.42_4 < GV_MASTER_RWS_RackAngleCommand.43_5)
    goto <bb 5>; [INV]
  else
    goto <bb 6>; [INV]

  <bb 5> :
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.44_6 = Cur_RWS_RACK_ANGLE;
  RWS_Angle_Speed_limit.45_7 = RWS_Angle_Speed_limit;
  _8 = Cur_RWS_RACK_ANGLE.44_6 + RWS_Angle_Speed_limit.45_7;
  Cur_RWS_RACK_ANGLE = _8;
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.46_9 = Cur_RWS_RACK_ANGLE;
  GV_RWS1_040_RackAngleCmd = Cur_RWS_RACK_ANGLE.46_9;
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.47_10 = Cur_RWS_RACK_ANGLE;
  GV_RWS2_040_RackAngleCmd = Cur_RWS_RACK_ANGLE.47_10;

  <bb 6> :
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.48_11 = Cur_RWS_RACK_ANGLE;
  GV_MASTER_RWS_RackAngleCommand.49_12 = GV_MASTER_RWS_RackAngleCommand;
  if (Cur_RWS_RACK_ANGLE.48_11 > GV_MASTER_RWS_RackAngleCommand.49_12)
    goto <bb 7>; [INV]
  else
    goto <bb 8>; [INV]

  <bb 7> :
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.50_13 = Cur_RWS_RACK_ANGLE;
  RWS_Angle_Speed_limit.51_14 = RWS_Angle_Speed_limit;
  _15 = Cur_RWS_RACK_ANGLE.50_13 - RWS_Angle_Speed_limit.51_14;
  Cur_RWS_RACK_ANGLE = _15;
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.52_16 = Cur_RWS_RACK_ANGLE;
  GV_RWS1_040_RackAngleCmd = Cur_RWS_RACK_ANGLE.52_16;
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.53_17 = Cur_RWS_RACK_ANGLE;
  GV_RWS2_040_RackAngleCmd = Cur_RWS_RACK_ANGLE.53_17;

  <bb 8> :
  # DEBUG BEGIN_STMT
  GV_MASTER_RWS_RackAngleCommand.54_18 = GV_MASTER_RWS_RackAngleCommand;
  if (GV_MASTER_RWS_RackAngleCommand.54_18 > 0.0)
    goto <bb 9>; [INV]
  else
    goto <bb 13>; [INV]

  <bb 9> :
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.55_19 = Cur_RWS_RACK_ANGLE;
  GV_MASTER_RWS_RackAngleCommand.56_20 = GV_MASTER_RWS_RackAngleCommand;
  if (Cur_RWS_RACK_ANGLE.55_19 > GV_MASTER_RWS_RackAngleCommand.56_20)
    goto <bb 10>; [INV]
  else
    goto <bb 11>; [INV]

  <bb 10> :
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.57_21 = Cur_RWS_RACK_ANGLE;
  RWS_Angle_Speed_limit.58_22 = RWS_Angle_Speed_limit;
  _23 = Cur_RWS_RACK_ANGLE.57_21 - RWS_Angle_Speed_limit.58_22;
  Cur_RWS_RACK_ANGLE = _23;
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.59_24 = Cur_RWS_RACK_ANGLE;
  GV_RWS1_040_RackAngleCmd = Cur_RWS_RACK_ANGLE.59_24;
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.60_25 = Cur_RWS_RACK_ANGLE;
  GV_RWS2_040_RackAngleCmd = Cur_RWS_RACK_ANGLE.60_25;

  <bb 11> :
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.61_26 = Cur_RWS_RACK_ANGLE;
  GV_MASTER_RWS_RackAngleCommand.62_27 = GV_MASTER_RWS_RackAngleCommand;
  if (Cur_RWS_RACK_ANGLE.61_26 < GV_MASTER_RWS_RackAngleCommand.62_27)
    goto <bb 12>; [INV]
  else
    goto <bb 13>; [INV]

  <bb 12> :
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.63_28 = Cur_RWS_RACK_ANGLE;
  RWS_Angle_Speed_limit.64_29 = RWS_Angle_Speed_limit;
  _30 = Cur_RWS_RACK_ANGLE.63_28 + RWS_Angle_Speed_limit.64_29;
  Cur_RWS_RACK_ANGLE = _30;
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.65_31 = Cur_RWS_RACK_ANGLE;
  GV_RWS1_040_RackAngleCmd = Cur_RWS_RACK_ANGLE.65_31;
  # DEBUG BEGIN_STMT
  Cur_RWS_RACK_ANGLE.66_32 = Cur_RWS_RACK_ANGLE;
  GV_RWS2_040_RackAngleCmd = Cur_RWS_RACK_ANGLE.66_32;

  <bb 13> :
  return;

}


Angle_Speed ()
{
  <bb 2> :
  # DEBUG BEGIN_STMT
  GV_VCU_Drive_Mode.0_1 = GV_VCU_Drive_Mode;
  if (GV_VCU_Drive_Mode.0_1 == 1)
    goto <bb 3>; [INV]
  else
    goto <bb 15>; [INV]

  <bb 3> :
  # DEBUG BEGIN_STMT
  GV_MASTER_RWA_RackAngleCommand.1_2 = GV_MASTER_RWA_RackAngleCommand;
  Cur_RWA_RACK_ANGLE.2_3 = Cur_RWA_RACK_ANGLE;
  if (GV_MASTER_RWA_RackAngleCommand.1_2 != Cur_RWA_RACK_ANGLE.2_3)
    goto <bb 4>; [INV]
  else
    goto <bb 14>; [INV]

  <bb 4> :
  # DEBUG BEGIN_STMT
  GV_MASTER_RWA_RackAngleCommand.3_4 = GV_MASTER_RWA_RackAngleCommand;
  if (GV_MASTER_RWA_RackAngleCommand.3_4 < 0.0)
    goto <bb 5>; [INV]
  else
    goto <bb 9>; [INV]

  <bb 5> :
  # DEBUG BEGIN_STMT
  Cur_RWA_RACK_ANGLE.4_5 = Cur_RWA_RACK_ANGLE;
  GV_MASTER_RWA_RackAngleCommand.5_6 = GV_MASTER_RWA_RackAngleCommand;
  if (Cur_RWA_RACK_ANGLE.4_5 < GV_MASTER_RWA_RackAngleCommand.5_6)
    goto <bb 6>; [INV]
  else
    goto <bb 7>; [INV]

  <bb 6> :
  # DEBUG BEGIN_STMT
  RWA_Angle_Speed_limit.6_7 = RWA_Angle_Speed_limit;
  Angle_Speed_Gain.7_8 = Angle_Speed_Gain;
  GV_VCU_Vx_Fbk.8_9 = GV_VCU_Vx_Fbk;
  _10 = Angle_Speed_Gain.7_8 * GV_VCU_Vx_Fbk.8_9;
  _11 = RWA_Angle_Speed_limit.6_7 - _10;
  Cur_RWA_RACK_ANGLE.9_12 = Cur_RWA_RACK_ANGLE;
  _13 = _11 + Cur_RWA_RACK_ANGLE.9_12;
  Cur_RWA_RACK_ANGLE = _13;
  # DEBUG BEGIN_STMT
  Cur_RWA_RACK_ANGLE.10_14 = Cur_RWA_RACK_ANGLE;
  GV_RWA_040_RackAngleCmd = Cur_RWA_RACK_ANGLE.10_14;
  # DEBUG BEGIN_STMT
  Cur_RWA_RACK_ANGLE.11_15 = Cur_RWA_RACK_ANGLE;
  GV_RWA2_040_RackAngleCmd = Cur_RWA_RACK_ANGLE.11_15;

  <bb 7> :
  # DEBUG BEGIN_STMT
  Cur_RWA_RACK_ANGLE.12_16 = Cur_RWA_RACK_ANGLE;
  GV_MASTER_RWA_RackAngleCommand.13_17 = GV_MASTER_RWA_RackAngleCommand;
  if (Cur_RWA_RACK_ANGLE.12_16 > GV_MASTER_RWA_RackAngleCommand.13_17)
    goto <bb 8>; [INV]
  else
    goto <bb 9>; [INV]

  <bb 8> :
  # DEBUG BEGIN_STMT
  Cur_RWA_RACK_ANGLE.14_18 = Cur_RWA_RACK_ANGLE;
  RWA_Angle_Speed_limit.15_19 = RWA_Angle_Speed_limit;
  Angle_Speed_Gain.16_20 = Angle_Speed_Gain;
  GV_VCU_Vx_Fbk.17_21 = GV_VCU_Vx_Fbk;
  _22 = Angle_Speed_Gain.16_20 * GV_VCU_Vx_Fbk.17_21;
  _23 = RWA_Angle_Speed_limit.15_19 - _22;
  _24 = Cur_RWA_RACK_ANGLE.14_18 - _23;
  Cur_RWA_RACK_ANGLE = _24;
  # DEBUG BEGIN_STMT
  Cur_RWA_RACK_ANGLE.18_25 = Cur_RWA_RACK_ANGLE;
  GV_RWA_040_RackAngleCmd = Cur_RWA_RACK_ANGLE.18_25;
  # DEBUG BEGIN_STMT
  Cur_RWA_RACK_ANGLE.19_26 = Cur_RWA_RACK_ANGLE;
  GV_RWA2_040_RackAngleCmd = Cur_RWA_RACK_ANGLE.19_26;

  <bb 9> :
  # DEBUG BEGIN_STMT
  GV_MASTER_RWA_RackAngleCommand.20_27 = GV_MASTER_RWA_RackAngleCommand;
  if (GV_MASTER_RWA_RackAngleCommand.20_27 > 0.0)
    goto <bb 10>; [INV]
  else
    goto <bb 15>; [INV]

  <bb 10> :
  # DEBUG BEGIN_STMT
  Cur_RWA_RACK_ANGLE.21_28 = Cur_RWA_RACK_ANGLE;
  GV_MASTER_RWA_RackAngleCommand.22_29 = GV_MASTER_RWA_RackAngleCommand;
  if (Cur_RWA_RACK_ANGLE.21_28 > GV_MASTER_RWA_RackAngleCommand.22_29)
    goto <bb 11>; [INV]
  else
    goto <bb 12>; [INV]

  <bb 11> :
  # DEBUG BEGIN_STMT
  Cur_RWA_RACK_ANGLE.23_30 = Cur_RWA_RACK_ANGLE;
  RWA_Angle_Speed_limit.24_31 = RWA_Angle_Speed_limit;
  Angle_Speed_Gain.25_32 = Angle_Speed_Gain;
  GV_VCU_Vx_Fbk.26_33 = GV_VCU_Vx_Fbk;
  _34 = Angle_Speed_Gain.25_32 * GV_VCU_Vx_Fbk.26_33;
  _35 = RWA_Angle_Speed_limit.24_31 - _34;
  _36 = Cur_RWA_RACK_ANGLE.23_30 - _35;
  Cur_RWA_RACK_ANGLE = _36;
  # DEBUG BEGIN_STMT
  Cur_RWA_RACK_ANGLE.27_37 = Cur_RWA_RACK_ANGLE;
  GV_RWA_040_RackAngleCmd = Cur_RWA_RACK_ANGLE.27_37;
  # DEBUG BEGIN_STMT
  Cur_RWA_RACK_ANGLE.28_38 = Cur_RWA_RACK_ANGLE;
  GV_RWA2_040_RackAngleCmd = Cur_RWA_RACK_ANGLE.28_38;

  <bb 12> :
  # DEBUG BEGIN_STMT
  Cur_RWA_RACK_ANGLE.29_39 = Cur_RWA_RACK_ANGLE;
  GV_MASTER_RWA_RackAngleCommand.30_40 = GV_MASTER_RWA_RackAngleCommand;
  if (Cur_RWA_RACK_ANGLE.29_39 < GV_MASTER_RWA_RackAngleCommand.30_40)
    goto <bb 13>; [INV]
  else
    goto <bb 15>; [INV]

  <bb 13> :
  # DEBUG BEGIN_STMT
  RWA_Angle_Speed_limit.31_41 = RWA_Angle_Speed_limit;
  Angle_Speed_Gain.32_42 = Angle_Speed_Gain;
  GV_VCU_Vx_Fbk.33_43 = GV_VCU_Vx_Fbk;
  _44 = Angle_Speed_Gain.32_42 * GV_VCU_Vx_Fbk.33_43;
  _45 = RWA_Angle_Speed_limit.31_41 - _44;
  Cur_RWA_RACK_ANGLE.34_46 = Cur_RWA_RACK_ANGLE;
  _47 = _45 + Cur_RWA_RACK_ANGLE.34_46;
  Cur_RWA_RACK_ANGLE = _47;
  # DEBUG BEGIN_STMT
  Cur_RWA_RACK_ANGLE.35_48 = Cur_RWA_RACK_ANGLE;
  GV_RWA_040_RackAngleCmd = Cur_RWA_RACK_ANGLE.35_48;
  # DEBUG BEGIN_STMT
  Cur_RWA_RACK_ANGLE.36_49 = Cur_RWA_RACK_ANGLE;
  GV_RWA2_040_RackAngleCmd = Cur_RWA_RACK_ANGLE.36_49;
  goto <bb 15>; [INV]

  <bb 14> :
  # DEBUG BEGIN_STMT
  GV_MASTER_RWA_RackAngleCommand.37_50 = GV_MASTER_RWA_RackAngleCommand;
  GV_RWA_040_RackAngleCmd = GV_MASTER_RWA_RackAngleCommand.37_50;
  # DEBUG BEGIN_STMT
  GV_MASTER_RWA_RackAngleCommand.38_51 = GV_MASTER_RWA_RackAngleCommand;
  GV_RWA2_040_RackAngleCmd = GV_MASTER_RWA_RackAngleCommand.38_51;

  <bb 15> :
  return;

}